.. _program_listing_file_src_ompl_base_PlannerStatus.h:

Program Listing for File PlannerStatus.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_base_PlannerStatus.h>` (``src/ompl/base/PlannerStatus.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Mark Moll */
   
   #ifndef OMPL_BASE_PLANNER_STATUS_
   #define OMPL_BASE_PLANNER_STATUS_
   
   #include <string>
   #include <ostream>
   
   namespace ompl
   {
       namespace base
       {
           struct PlannerStatus
           {
               enum StatusType
               {
                   UNKNOWN = 0,
                   INVALID_START,
                   INVALID_GOAL,
                   UNRECOGNIZED_GOAL_TYPE,
                   TIMEOUT,
                   APPROXIMATE_SOLUTION,
                   EXACT_SOLUTION,
                   CRASH,
                   ABORT,
                   INFEASIBLE,
                   TYPE_COUNT
               };
   
               PlannerStatus(StatusType status = UNKNOWN) : status_(status)
               {
               }
   
               PlannerStatus(bool hasSolution, bool isApproximate)
                 : status_(hasSolution ? (isApproximate ? APPROXIMATE_SOLUTION : EXACT_SOLUTION) : TIMEOUT)
               {
               }
   
               std::string asString() const;
               operator bool() const
               {
                   return status_ == APPROXIMATE_SOLUTION || status_ == EXACT_SOLUTION;
               }
               operator StatusType() const
               {
                   return status_;
               }
   
           private:
               StatusType status_;
           };
   
           inline std::ostream &operator<<(std::ostream &out, const PlannerStatus &status)
           {
               return out << status.asString();
           }
       }
   }
   
   #endif